Simulated bog-down system and method for power tools

ABSTRACT

Simulated bog-down system and method for power tools. One power tool according to an example embodiment includes a power source and a motor selectively coupled to the power source. The motor includes a rotor and stator windings. The power tool includes an actuator configured to generate a drive request signal and a power switching network configured to selectively couple the power source to the stator windings of the motor. The power tool includes an electronic processor coupled to the power source, the actuator, and the power switching network. The electronic processor is configured to detect a load on the power tool and compare the load to a threshold. The electronic processor is configured to determine that the load is greater than the threshold, and to control the power switching network to simulate bog-down in response to determining that the load is greater than the threshold.

RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationNo. 62/636,633, filed on Feb. 28, 2018, the entire contents of which arehereby incorporated by reference.

FIELD OF THE INVENTION

The present invention relates to simulating bog-down of a power toolduring operation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a power tool according to one embodiment of theinvention.

FIG. 2 illustrates a simplified block diagram of the power tool of FIG.1 according to one embodiment of the invention.

FIGS. 3A-B illustrate flowcharts of a method to provide simulatedbog-down operation of the power tool of FIG. 1 according to oneembodiment.

FIG. 4 illustrates a schematic diagram of the power tool of FIG. 1 thatshows how an electronic processor of the power tool implements themethods of FIGS. 3A and 3B according to one embodiment.

FIG. 5 illustrates an eco-indicator that is included on a housing of thepower tool according to one embodiment.

SUMMARY

In one embodiment, a power tool is provided including a power source anda motor selectively coupled to the power source. The motor includes arotor and stator windings. The power tool further includes an actuatorconfigured to generate a drive request signal and a power switchingnetwork configured to selectively couple the power source to the statorwindings of the motor. The power tool further includes an electronicprocessor coupled to the power source, the actuator, and the powerswitching network. The electronic processor is configured to detect aload on the power tool and compare the load to a threshold.

The electronic processor is further configured to determine that theload is greater than the threshold, and to control the power switchingnetwork to simulate bog-down in response to determining that the load isgreater than the threshold.

In another embodiment, a method of driving a power tool is provided. Themethod includes detecting, with an electronic processor, a load of thepower tool. The power tool includes a motor selectively coupled to apower source, and the motor includes a rotor and stator windings. Apower switching network selectively couples the power source to thestator windings of the motor in response to a drive request signalgenerated by an actuator. The method further includes the electronicprocessor comparing the load to a threshold, and determining that theload is greater than the threshold. The method also includescontrolling, with the electronic processor, the power switching networkto simulate bog-down in response to determining that the load is greaterthan the threshold.

In one embodiment, a power tool is provided including a power source, amotor selectively coupled to the power source, an actuator configured togenerate a drive request signal, a power switching network configured toselectively couple the power source to the motor, and an electronicprocessor. The electronic processor is coupled to the power source, theactuator, and the power switching network. The electronic processor isfurther configured to detect a load on the power tool, and to receivethe drive request signal from the actuator, where the drive requestsignal corresponds to a first drive speed of the motor. The electronicprocessor is also configured to generate a current limit signalcorresponding to a second drive speed of the motor based on the detectedload and a current limit of one of a group consisting of the powersource and the power tool. The electronic processor is furtherconfigured to compare the drive request signal and the current limitsignal, and to determine that the second drive speed of the motorcorresponding to the current limit signal is less than the first drivespeed of the motor corresponding to the drive request signal based onthe comparison. Further, the electronic processor is configured tocontrol the power switching network based on the current limit signal tosimulate bog-down in response to determining that the second drive speedof the motor corresponding to the current limit signal is less than thefirst drive speed of the motor corresponding to the drive requestsignal.

DETAILED DESCRIPTION

Before any embodiments of the invention are explained in detail, it isto be understood that the invention is not limited in its application tothe details of construction and the arrangement of components set forthin the following description or illustrated in the following drawings.The invention is capable of other embodiments and of being practiced orof being carried out in various ways. Also, it is to be understood thatthe phraseology and terminology used herein is for the purpose ofdescription and should not be regarded as limited. The use of“including,” “comprising” or “having” and variations thereof herein ismeant to encompass the items listed thereafter and equivalents thereofas well as additional items. The terms “mounted,” “connected” and“coupled” are used broadly and encompass both direct and indirectmounting, connecting and coupling. Further, “connected” and “coupled”are not restricted to physical or mechanical connections or couplings,and can include electrical connections or couplings, whether direct orindirect.

It should be noted that a plurality of hardware and software baseddevices, as well as a plurality of different structural components maybe utilized to implement the invention. Furthermore, and as described insubsequent paragraphs, the specific configurations illustrated in thedrawings are intended to exemplify embodiments of the invention and thatother alternative configurations are possible. The terms “processor”“central processing unit” and “CPU” are interchangeable unless otherwisestated. Where the terms “processor” or “central processing unit” or“CPU” are used as identifying a unit performing specific functions, itshould be understood that, unless otherwise stated, those functions canbe carried out by a single processor, or multiple processors arranged inany form, including parallel processors, serial processors, tandemprocessors or cloud processing/cloud computing configurations.

FIG. 1 illustrates a power tool 100. In the illustrated embodiment, thepower tool 100 is a concrete saw. In other embodiments, the power tool100 is another type of power tool such as a jack hammer, a lawn mower,or the like. As indicated by these example power tools, in someembodiments, the power tool 100 is a type of power tool that has beentraditionally powered by a gas engine such as a heavy duty power toolthat is not typically independently supported by a user duringoperation. As shown in FIG. 1, the power tool 100 includes a main body105 that supports a handle 110, a motor housing 115, an output device120, and a power source 125.

The motor housing 115 supports a motor that actuates the output device120, also referred to as a tool implement, and allows the output device120 to perform a particular task. In the illustrated embodiment,rotational motion of the motor is provided to the output device 120using a belt 130. In other embodiments, particularly with other powertools, the belt 130 may not be present and rotational motion of themotor is provided to the output device 120 in another known manner, suchas with a chain drive or a drive shaft. For example, although the outputdevice 120 of FIG. 1 is a circular blade that rotates, in someembodiments, the output device 120 is another type of output device thatthe motor drives to move in a different manner. For example, inembodiments where the power tool 100 is a jack hammer, the output device120 is a chisel that moves back and forth along a linear axis. The powersource (e.g., a battery pack) 125 couples to the power tool 100 andprovides electrical power to energize the motor. The motor is energizedbased on the position of an input device 135, which is also referred toas an actuator. In some embodiments, the input device 135 is located onthe handle 110. When the input device 135 is actuated (i.e., depressedsuch that it is held close to the handle 110), power is provided to themotor to cause the output device 120 to rotate. When the input device135 is released as shown in FIG. 1, power is not provided to the motorand, thus, the output device 120 slows and stops if it was previouslybeing driven by the motor.

In the illustrated embodiment, the input device 135 is approximately thesame shape as the handle 110. However, in other embodiments, the inputdevice 135 is arranged and/or shaped differently and is positionedelsewhere on the power tool 100 (e.g., the input device 135 may be atrigger configured to be actuated by one or more fingers of the user).In some embodiments, the input device 135 is biased (e.g., with aspring) such that it moves in a direction away from the handle 110 whenthe input device 135 is released by the user. The input device 135outputs a drive request signal indicative of its position. In someinstances, the drive request signal is binary and indicates either thatthe input device 135 is depressed or released. In other instances, thedrive request signal indicates the position of the input device 135 withmore precision. For example, the input device 135 may output an analogdrive request signal that varies from 0 to 5 volts depending on theextent that the input device 135 is depressed. For example, 0 V outputindicates that the input device 135 is released, 1 V output indicatesthat the input device 135 is 20% depressed, 2 V output indicates thatthe input device 135 is 40% depressed, 3 V output indicates that theinput device 135 is 60% depressed, 4 V output indicates that the inputdevice 135 is 80% depressed, and 5 V indicates that the input device 135is 100% depressed. The drive request signal output by the input device135 may be analog or digital.

In some embodiments, the input device 135 includes a secondary inputdevice that receives a second input from the user that indicates a powerlevel desired by the user. For example, the secondary input may havefive power levels corresponding to the five voltage examples above. Insuch embodiments, the drive request signal from the input device 135 maybe binary to indicate whether the input device 135 is depressed orreleased. However, the secondary input may cause the input device 135 toprovide a different drive request signal to control the power tool 100depending on a setting of the secondary input device. For example, whenthe secondary input device is set to 60%, the input device 135 providesa 3 V output when the input device 135 is depressed. Similarly, when thesecondary input device is set to 100%, the input device 135 provides a 5V output when the input device 135 is depressed.

FIG. 2 illustrates a simplified block diagram 200 of the power tool 100according to one example embodiment. As shown in FIG. 2, the power tool100 includes an electronic processor 205, a memory 207, the power source(e.g., a battery pack) 125, a power switching network 215, a motor 220,a rotor position sensor 225, a current sensor 230, the input device 135,and indicators (e.g., light-emitting diodes) 235. In some embodiments,the power tool 100 includes fewer or additional components than thoseshown in FIG. 2. For example, the power tool 100 may include a batterypack fuel gauge, a work lights, additional sensors such as a transducerused for sensing torque of the motor 220 that is indicative of a load onthe power tool 100, etc.

As shown in FIG. 2, the power source 125 provides power to theelectronic processor 205. In some embodiments, the power source 125 is apower tool battery pack providing a nominal voltage of about 80 voltsDC, or another level between about 60-90 volts. For example, the powersource 125 includes several battery cells (e.g., lithium ion or anotherchemistry) electrically connected in series, parallel, or a combinationthereof, to generate the desired output voltage. Further, in someembodiments, the power source 125 includes a housing that contains andsupports the battery cells, as well as a microprocessor used to control,at least in part, charging and discharging of the power source 125, andoperable to communicate with the power tool 100. In some embodiments,the power tool 100 includes active and/or passive components (e.g.,voltage step-down controllers, voltage converters, rectifiers, filters,etc.) to regulate or control the power provided by the power source 125to the other components of the power tool 100 (e.g., the power providedto the electronic processor 205). Additionally, in some embodiments, theelectronic processor 205 and the power source 125 are configured tocommunicate with each other.

The memory 207 includes read only memory (ROM), random access memory(RAM), other non-transitory computer-readable media, or a combinationthereof. The electronic processor 205 is configured to communicate withthe memory 207 to store data and retrieve stored data. The electronicprocessor 205 is configured to receive instructions and data from thememory 207 and execute, among other things, the instructions. Inparticular, the electronic processor 205 executes instructions stored inthe memory 207 to perform the methods described herein.

The power switching network 215 enables the electronic processor 205 tocontrol the operation of the motor 220, which may be a brushless directcurrent (DC) motor in some embodiments. Generally, when the input device135 is depressed, electrical current is supplied from the power source125 to the motor 220, via the power switching network 215. When theinput device 135 is not depressed, electrical current is not suppliedfrom the power source 125 to the motor 220. In some embodiments, theamount in which the input device 135 is depressed is related to orcorresponds to a desired speed of rotation of the motor 220. In otherembodiments, the amount in which the input device 135 is depressed isrelated to or corresponds to a desired torque.

In response to the electronic processor 205 receiving a drive requestsignal from the input device 135, the electronic processor 205 activatesthe power switching network 215 to provide power to the motor 220.Through the power switching network 215, the electronic processor 205controls the amount of current available to the motor 220 and therebycontrols the speed and torque output of the motor 220. The powerswitching network 215 may include numerous field-effect transistors(FETs), bipolar transistors, or other types of electrical switches. Forinstance, the power switching network 215 may include a six-FET bridgethat receives pulse-width modulated (PWM) signals from the electronicprocessor 205 to drive the motor 220.

The rotor position sensor 225 and the current sensor 230 are coupled tothe electronic processor 205 and communicate to the electronic processor205 various control signals indicative of different parameters of thepower tool 100 or the motor 220. In some embodiments, the rotor positionsensor 225 includes a Hall sensor or a plurality of Hall sensors. Inother embodiments, the rotor position sensor 225 includes a quadratureencoder attached to the motor 220. The rotor position sensor 225 outputsmotor feedback information to the electronic processor 205, such as anindication (e.g., a pulse) when a magnet of a rotor of the motor 220rotates across the face of a Hall sensor. Based on the motor feedbackinformation from the rotor position sensor 225, the electronic processor205 can determine the position, velocity, and acceleration of the rotor.In response to the motor feedback information and the signals from theinput device 135, the electronic processor 205 transmits control signalsto control the power switching network 215 to drive the motor 220. Forinstance, by selectively enabling and disabling the FETs of the powerswitching network 215, power received from the power source 125 isselectively applied to stator windings of the motor 220 in a cyclicmanner to cause rotation of the rotor of the motor. The motor feedbackinformation is used by the electronic processor 205 to ensure propertiming of control signals to the power switching network 215 and, insome instances, to provide closed-loop feedback to control the speed ofthe motor 220 to be at a desired level. For example, to drive the motor220, using the motor positioning information from the rotor positionsensor 225, the electronic processor 205 determines where the rotormagnets are in relation to the stator windings and (a) energizes a nextstator winding pair (or pairs) in the predetermined pattern to providemagnetic force to the rotor magnets in a direct of desired rotation, and(b) de-energizes the previously energized stator winding pair (or pairs)to prevent application of magnetic forces on the rotor magnets that areopposite the direction of rotation of the rotor.

The current sensor 230 monitors or detects a current level of the motor220 during operation of the power tool 100 and provides control signalsto the electronic processor 205 that are indicative of the detectedcurrent level. The electronic processor 205 may use the detected currentlevel to control the power switching network 215 as explained in greaterdetail below. For example, a detected current level of the motor 220from the current sensor 230 may indicate a load on the power tool 100.In some embodiments, the load on the power tool 100 may be determined inother manners besides detecting the current level of the motor 220. Forexample, the power tool 100 may include a transducer configured toprovide a signal to the electronic processor 205 indicative of a torquelevel of the motor 220 that indicates the load on the power tool 100.

As shown in FIG. 2, the indicators 235 are also coupled to theelectronic processor 205 and receive control signals from the electronicprocessor 205 to turn on and off or otherwise convey information basedon different states of the power tool 100. The indicators 235 include,for example, one or more light-emitting diodes (“LEDs”), or a displayscreen. The indicators 235 can be configured to display conditions of,or information associated with, the power tool 100. For example, theindicators 235 are configured to indicate measured electricalcharacteristics of the power tool 100, the status of the power tool 100,the mode of the power tool, etc. The indicators 235 may also includeelements to convey information to a user through audible or tactileoutputs. In some embodiments, the indicators 235 include aneco-indicator that indicates an amount of power being used by the powertool 100 during operation as will be described in greater detail below(see FIG. 5).

The connections shown between components of the power tool 100 aresimplified in FIG. 2. In practice, the wiring of the power tool 100 ismore complex, as the components of a power tool are interconnected byseveral wires for power and control signals. For instance, each FET ofthe power switching network 215 is separately connected to theelectronic processor 205 by a control line; each FET of the powerswitching network 215 is connected to a terminal of the motor 220; thepower line from the power source 125 to the power switching network 215includes a positive wire and a negative/ground wire; etc. Additionally,the power wires can have a large gauge/diameter to handle increasedcurrent. Further, although not shown, additional control signal andpower lines are used to interconnect additional components of the powertool 100 (e.g., power is also provided to the memory 207).

Many heavy duty power tools (such as concrete saw, jack hammers, lawnmowers, and the like) are powered by gas engines. During operation ofgas engine-powered power tools, an excessive input force exerted on thepower tool or a large load encountered by the power tool may cause aresistive force impeding further operation of the power tool. Forexample, a gas engine-powered concrete saw that is pushed too fast ortoo hard to cut concrete may have its motor slowed or bogged-downbecause of the excessive load. This bog-down of the motor can be sensed(e.g., felt and heard) by a user, and is a helpful indication that anexcessive input, which may potentially damage the power tool, has beenencountered. In contrast, high-powered electric motor driven powertools, similar to the power tool 100, for example, do not innatelyprovide the bog-down feedback to the user. Rather, in these high-poweredelectric motor driven power tools, excessive loading of the power toolcauses the motor to draw excess current from the power source or batterypack. Drawing excess current from the battery pack may cause quick andpotentially detrimental depletion of the battery pack.

Accordingly, in some embodiments, the power tool 100 includes asimulated bog-down feature to provide an indication to the user thatexcessive loading of the power tool 100 is occurring during operation(e.g., as detected based on current level of the motor 220, a torquelevel of the motor 220, and/or the like). In some embodiments, theelectronic processor 205 executes a method 300 as shown in FIG. 3A toprovide simulated bog-down operation of the power tool 100 that issimilar to actual bog-down experienced by gas engine-powered powertools.

At block 305, the electronic processor 205 controls the power switchingnetwork 215 to provide power to the motor 220 in response to determiningthat the input device 135 has been actuated. For example, the electronicprocessor 205 provides a PWM signal to the FETs of the power switchingnetwork 215 to drive the motor 220 in accordance with the drive requestsignal from the input device 135. At block 310, the electronic processor205 detects a load on the power tool (e.g., using the current sensor230, a transducer that monitors the torque of the motor 220, and/or thelike). At block 315, the electronic processor 205 compares the load to athreshold. When the load is not greater than the threshold, the method300 proceeds back to block 310 such that the electronic processor 205repeats blocks 310 and 315 until the load is greater than the threshold.

When the electronic processor 205 determines that the load is greaterthan the threshold, at block 320, the electronic processor 205 controlsthe power switching network 215 to simulate bog-down in response todetermining that the load is greater than the threshold. In someembodiments, the electronic processor 205 controls the power switchingnetwork 215 to decrease the speed of the motor 220 to a non-zero value.For example, the electronic processor 205 reduces a duty cycle of thePWM signal provided to the FETs of the power switching network 215. Insome embodiments, the reduction in the duty cycle (i.e., the speed ofthe motor 220) is proportional to an amount that the load is above thethreshold (i.e., an amount of excessive load). In other words, the moreexcessive the load of the power tool 100, the further the speed of themotor 220 is reduced by the electronic processor 205. For example, insome embodiments, the electronic processor 205 determines, in step 320,the difference between the load of the motor and the load threshold todetermine a difference value. Then, the electronic processor 205determines the amount of reduction in the duty cycle based on thedifference value (e.g., using a look-up table).

In some embodiments, at block 320, the electronic processor 205 controlsthe power switching network 215 in a different or additional manner toprovide an indication to the user that excessive loading of the powertool 100 is occurring during operation. In such embodiments, thebehavior of the motor 220 may provide a more noticeable indication tothe user that excessive loading of the power tool 100 is occurring thanthe simulated bog-down described above. As one example, the electronicprocessor 205 controls the power switching network 215 to oscillatebetween different motor speeds. Such motor control may be similar to agas engine-powered power tool stalling and may provide haptic feedbackto the user to indicate that excessive loading of the power tool 100 isoccurring. In some embodiments, the electronic processor 205 controlsthe power switching network 215 to oscillate between different motorspeeds to provide an indication to the user that very excessive loadingof the power tool 100 is occurring. For example, the electronicprocessor 205 controls the power switching network 215 to oscillatebetween different motor speeds in response to determining that the loadof the power tool 100 is greater than a second threshold that is greaterthan the threshold described above with respect to simulated bog-down.As another example, the electronic processor 205 controls the powerswitching network 215 to oscillate between different motor speeds inresponse to determining that the load of the power tool 100 has beengreater than the threshold described above with respect to simulatedbog-down for a predetermined time period (e.g., two seconds). In otherwords, the electronic processor 205 may control the power switchingnetwork 215 to simulate bog-down when excessive loading of the powertool 100 is detected and may control the power switching network 215 tosimulate stalling when excessive loading is prolonged or increasesbeyond a second threshold.

With respect to any of the embodiments described above with respect toblock 320, other characteristics of the power tool 100 and the motor 220may provide indications to the user that excessive loading of the powertool 100 is occurring (e.g., tool vibration, resonant sound of a shaftof the motor 220, and sound of the motor 220). In some embodiments,these characteristics change as the electronic processor 205 controlsthe power switching network 215 to simulate bog-down or to oscillatebetween different motor speeds as described above.

In some embodiments, after the electronic processor 205 controls thepower switching network 215 to simulate bog-down (at block 320), theelectronic processor 205 executes a method 350 as shown in FIG. 3B. Atblock 355, which is similar to block 310, the electronic processor 205detects the load on the power tool 100. At block 360, the electronicprocessor 205 compares the load on the power tool to the threshold. Whenthe load remains above the threshold, the method 300 proceeds back toblock 315 such that the electronic processor 205 repeats blocks 315through 360 until the load decreases below the threshold. In otherwords, the electronic processor 205 continues to simulate bog-down untilthe load decreases below the threshold. Repetition of blocks 315 through360 allows the electronic processor 205 to simulate bog-down differentlyas the load changes but remains above the threshold (e.g., as mentionedpreviously regarding proportional adjustment of the duty cycle of thePWM provided to the FETs).

When the load on the power tool 100 decreases below the threshold (e.g.,in response to the user pulling the power tool 100 away from a worksurface), the electronic processor 205 controls the power switchingnetwork 215 to cease simulating bog-down and operate in accordance withthe actuation of the input device 135 (i.e., in accordance with thedrive request signal from the input device 135). In other words, theelectronic processor 205 controls the power switching network 215 toincrease the speed of the motor 220 from the reduced simulated bog-downspeed to a speed corresponding to the drive request signal from theinput device 135. For example, the electronic processor 205 increasesthe duty cycle of the PWM signal provided to the FETs of the powerswitching network 215. In some embodiments, the electronic processor 205gradually ramps the speed of the motor 220 up from the reduced simulatedbog-down speed to the speed corresponding to the drive request signalfrom the input device 135. Then the method 350 proceeds back to block305 to allow the electronic processor 205 to continue to monitor thepower tool 100 for excessive load conditions. Although not shown inFIGS. 3A and 3B, as indicated by the above description of the inputdevice 135, during execution of any block in the methods 300 and 350,the electronic processor 205 may cease providing power to the motor 220in response to determining that the input device 135 is no longeractuated (i.e., has been released by the user) or may provide power tothe motor 220 to cause the motor 220 to stop rotating (i.e., braking).

FIG. 4 illustrates a schematic control diagram 400 of the power tool 100that shows how the electronic processor 205 implements the methods 300and 350 according to one example embodiment. In general, the electronicprocessor 205 receives numerous inputs, makes determinations based onthe inputs, and controls the power switching network 215 based on theinputs and determinations. As shown in FIG. 4, the electronic processor205 receives a drive request signal 405 from the input device 135 asexplained previously herein. In some embodiments, the power tool 100includes a slew rate limiter 410 to condition the drive request signal405 before the drive request signal 405 is provided to the electronicprocessor 205. The drive request signal 405 corresponds to a first drivespeed of the motor 220 (i.e., a desired speed of the motor 220 based onan amount of depression of the input device 135 or based on the settingof the secondary input device). In some embodiments, the drive requestsignal 405 is a desired duty ratio (e.g., a value between 0-100%) of thePWM signal for controlling the power switching network 215.

The electronic processor 205 also receives a power tool current limit415 and a power source current available limit 420. The power toolcurrent limit 415 is a predetermined current limit that is, for example,stored in and obtained from the memory 207. The power tool current limit415 indicates a maximum current level that can be drawn by the powertool 100 from the power source 125. In some embodiments, the power toolcurrent limit 415 is stored in the memory 207 during manufacturing ofthe power tool 100. The power source current available limit 420 is acurrent limit provided by the power source (e.g., battery pack) 125 tothe electronic processor 205. The power source current available limit420 indicates a maximum current that the power source 125 is capable ofproviding to the power tool 100. In some embodiments, the power sourcecurrent available limit 420 changes during operation of the power tool100. For example, as the power source 125 becomes depleted, the maximumcurrent that the power source 125 is capable of providing decreases, andaccordingly, as does the power source current available limit 420. Inother words, the power source current available limit 420 may changebased on the state of charge of the power source 125. The power sourcecurrent available limit 420 may also be different depending on thetemperature of the power source 125 and/or the type of power source 125(e.g., different types of battery packs). In some embodiments, circuitrywithin the power source 125 (e.g., a battery pack microcontroller) maydetermine the power source current available limit 420 and provide thelimit 420 to the electronic processor 205 of the power tool 100, forexample, via a communication terminal of a battery pack interface. Inother embodiments, the electronic processor 205 of the power tool 100may adjust the power source current available limit 420 of the powersource 125 based on one of the characteristics described above (e.g.,based on state of charge of the power source 125, temperature of thepower source 125, a type of the power source 125, etc.). For example,the electronic processor 205 may use a look-up table that includes powersource current available limits 420 for different power sources 125 withvarious states of charge and temperatures. Although the limits 415 and420 are described as maximum current levels for the power tool 100 andpower source 125, in some embodiments, these are firmware-codedsuggested maximums or rated values that are, in practice, lower thantrue maximum levels of these devices.

As indicated by floor select block 425 in FIG. 4, the electronicprocessor 205 compares the power tool current limit 415 and the powersource current available limit 420 and determines a lower limit 430using the lower of the two signals 415 and 420. In other words, theelectronic processor 205 determines which of the two signals 415 and 420is lower, and then uses that lower signal as the lower limit 430. Theelectronic processor 205 also receives a detected current level of themotor 220 from the current sensor 230. At node 435 of the schematicdiagram 400, the electronic processor 205 determines an error (i.e., adifference) 440 between the detected current level of the motor 220 andthe lower limit 430. Although FIG. 4 illustrates the current sensor 230,the current sensor 230 is representative of a sensor that detects a loadon the power tool 100 and provides feedback to the node 435. In someembodiments, the current sensor 230 of FIG. 4 may be any type of loadsensor that detects the load on the power tool 100 (e.g., a transducerthat detects motor torque, or the like). After the electronic processor205 determines an error (i.e., a difference) 440 between the detectedcurrent level of the motor 220 and the lower limit 430, the electronicprocessor 205 then applies a proportional gain to the error 440 togenerate a proportional component 445. The electronic processor 205 alsocalculates an integral of the error 440 to generate an integralcomponent 450. At node 455, the electronic processor 205 combines theproportional component 445 and the integral component 450 to generate acurrent limit signal 460. The current limit signal 460 corresponds to adrive speed of the motor 220 (i.e., a second drive speed) that is basedon the detected current level of the motor 220 (or the detected load onthe power tool 100 as determined by a different load sensor) and one ofthe power tool current limit 415 and the power source current availablelimit 420 (whichever of the two limits 415 and 420 is lower). In someembodiments, the current limit signal 460 is in the form of a duty ratio(e.g., a value between 0-100%) for the PWM signal for controlling thepower switching network 215.

As indicated by floor select block 465 in FIG. 4, the electronicprocessor 205 compares the current limit signal 460 and the driverequest signal 405 and determines a target PWM signal 470 using thelower of the two signals 460 and 405. In other words, the electronicprocessor 205 determines which of the first drive speed of the motor 220corresponding to the drive request signal 405 and the second drive speedof the motor 220 corresponding to the current limit signal 460 is less.The electronic processor 205 then uses the signal 405 or 460corresponding to the lowest drive speed of the motor 220 to generate thetarget PWM signal 470. By selecting the lowest of the drive requestsignal 405 and the current limit signal 460, the floor select block 465ensures that the target PWM signal 470 will not result in a drivecurrent that is greater than the lowest current limit of either thepower source 125 or the power tool 100.

The electronic processor 205 also receives a measured rotational speedof the motor 220, for example, from the rotor position sensor 225. Atnode 475 of the schematic diagram 400, the electronic processor 205determines an error (i.e., a difference) 480 between the measured speedof the motor 220 and a speed corresponding to the target PWM signal 470.The electronic processor 205 then applies a proportional gain to theerror 480 to generate a proportional component 485. The electronicprocessor 205 also calculates an integral of the error 480 to generatean integral component 490. At node 495, the electronic processor 205combines the proportional component 485 and the integral component 490to generate an adjusted PWM signal 497 that is provided to the powerswitching network 215 to control the speed of the motor 220. Thecomponents of the schematic diagram 400 implemented by the electronicprocessor 205 as explained above allow the electronic processor 205 toprovide simulated bog-down operation of the power tool 100 that issimilar to actual bog-down experienced by gas engine-powered powertools. In other words, in some embodiments, by adjusting the PWM signal497 in accordance with the schematic control diagram 400, the power tool100 lowers and raises the motor speed in accordance with the load on thepower tool 100, which is perceived by the user audibly and tactilely, tothereby simulate bog down.

FIG. 5 illustrates an eco-indicator 500 that is included the power tool100 (e.g., on the handle 110, the motor housing 105, or anotherlocation) according to one example embodiment. As mentioned above, theeco-indicator 500 indicates an amount of power being used by the powertool 100 during operation (i.e., an amount of current being drawn fromthe power source (e.g., battery pack) 125). In the illustratedembodiment, the eco-indicator 500 includes five LED bars 505, 510, 515,520, and 525. In some embodiments, when the power being used by thepower tool 100 exceeds 20% of a maximum power (e.g., based on the powertool current limit 415, the power source current available limit 420, orthe like), the electronic processor 205 controls the LED bar 505 toilluminate. For each additional 20% of the maximum power that the powerbeing used by the power tool 100 increases, the electronic processor 205illuminates an additional LED bar 510 through 525. In other words, atless than 20% maximum power, no LEDs are illuminated; between 20-39%,LED bar 505 is illuminated; between 40-59%, LED bars 505-510 areilluminated; between 60-79%, LED bars 505-515 are illuminated; between80-99%, LED bars 505-520 are illuminated; and at 100%, LED bars 505-525are illuminated.

Accordingly, in addition to providing simulated bog-down as describedabove with respect to FIGS. 3A, 3B, and 4, the eco-indicator 500provides a visual indication to the user when the power tool 100 becomesbogged down and draws excess current from the power source 125. In someembodiments, the eco-indicator 500 includes LED bars of different colors(e.g., from green at LED bar 505 to red at LED bar 525). In someembodiments, one or more LED bars 505 through 525 blink when the powerbeing used by the power tool 100 exceeds a predetermined limit. In someembodiments, the eco-indicator 500 provides audible or tactile outputsto the user to indicate the amount of power being used by the power tool100 during operation.

Thus, the invention provides, among other things, a high-poweredelectric motor driven power tool that provides simulated bog-downoperation of the power tool that is similar to actual bog-downexperienced by gas engine-powered power tools.

We claim:
 1. A power tool comprising: a power source; a motor selectively coupled to the power source; an actuator configured to generate a drive request signal; a power switching network configured to selectively couple the power source to the motor; and an electronic processor coupled to the power source, the actuator, and the power switching network, the electronic processor configured to detect a load on the power tool, receive the drive request signal from the actuator, the drive request signal corresponding to a first drive speed of the motor, generate a current limit signal corresponding to a second drive speed of the motor based on the detected load and a current limit of one of a group consisting of the power source and the power tool, compare the drive request signal and the current limit signal, determine that the second drive speed of the motor corresponding to the current limit signal is less than the first drive speed of the motor corresponding to the drive request signal based on the comparison, and control the power switching network based on the current limit signal to simulate bog-down in response to determining that the second drive speed of the motor corresponding to the current limit signal is less than the first drive speed of the motor corresponding to the drive request signal.
 2. The power tool of claim 1, wherein the electronic processor is configured to: continue to compare the drive request signal and the current limit signal; determine that the first drive speed of the motor corresponding to the drive request signal is less than the second drive speed of the motor corresponding to the current limit signal based on the continued comparison; and control the power switching network to cease simulating bog-down and based on the drive request signal in response to determining that the first drive speed of the motor corresponding to the drive request signal is less than the second drive speed of the motor corresponding to the current limit signal based on the continued comparison.
 3. The power tool of claim 1, wherein the electronic processor is configured to generate the current limit signal at least in part by determining which of a power tool current limit and a power source current available limit is lower; wherein the power source current available limit changes based on at least one of a state of charge of the power source and a temperature of the power source.
 4. The power tool of claim 1, wherein the electronic processor is configured to detect the load on the power tool by detecting a current level of the motor.
 5. A power tool comprising: a power source; a motor selectively coupled to the power source, the motor including a rotor and stator windings; an actuator configured to generate a drive request signal; a power switching network configured to selectively couple the power source to the stator windings of the motor; and an electronic processor coupled to the power source, the actuator, and the power switching network, the electronic processor configured to detect a load on the power tool, compare the load to a threshold, determine that the load is greater than the threshold, and control the power switching network to simulate bog-down in response to determining that the load is greater than the threshold.
 6. The power tool of claim 5, wherein the drive request signal indicates a desired speed of the motor based on an amount in which the actuator is depressed; and wherein the electronic processor is configured to control the power switching network to simulate bog-down by decreasing a speed of the motor to a non-zero value that is less than the desired speed of the motor.
 7. The power tool of claim 6, wherein the electronic processor is configured to decrease the speed of the motor in proportion to an amount that the load is above the threshold.
 8. The power tool of claim 5, wherein the electronic processor is configured to: determine that the load is greater than a second threshold that is greater than the first threshold, and control the power switching network to simulate stalling in response to determining that the load is greater than the second threshold, wherein the electronic processor is configured to control the power switching network to simulate stalling by controlling the power switching network to oscillate between different motor speeds to provide haptic feedback to a user of the power tool.
 9. The power tool of claim 5, wherein the electronic processor is configured to: determine that the load has been greater than the threshold for a predetermined time period, and control the power switching network to simulate stalling in response to determining that the load has been greater than the threshold for the predetermined time period, wherein the electronic processor is configured to control the power switching network to simulate stalling by controlling the power switching network to oscillate between different motor speeds to provide haptic feedback to a user of the power tool.
 10. The power tool of claim 5, wherein the electronic processor is configured to: continue to monitor the load and control the power switching network to simulate bog-down; determine that the load has decreased to be less than the threshold; and in response to determining that the load has decreased to be less than the threshold, control the power switching network to cease simulating bog-down and operate in accordance with the drive request signal generated by the actuator.
 11. The power tool of claim 5, wherein the threshold is one of a power tool current limit and a power source current available limit; wherein the electronic processor is configured to determine the threshold by determining which of the power tool current limit and the power source current available limit is lower; wherein the power source current available limit changes based on at least one of a state of charge of the power source and a temperature of the power source.
 12. The power tool of claim 5, wherein the electronic processor is configured to detect the load on the power tool by detecting a current level of the motor.
 13. A method of driving a power tool, the method comprising: detecting, with an electronic processor, a load on the power tool, the power tool including a motor selectively coupled to a power source and including a rotor and stator windings, wherein a power switching network selectively couples the power source to the stator windings of the motor in response to a drive request signal generated by an actuator; comparing, with the electronic processor, the load to a threshold; determining, with the electronic processor, that the load is greater than the threshold; and controlling, with the electronic processor, the power switching network to simulate bog-down in response to determining that the load is greater than the threshold.
 14. The method of claim 13, wherein the drive request signal indicates a desired speed of the motor based on an amount in which the actuator is depressed, and further comprising: controlling, with the electronic processor, the power switching network to simulate bog-down by decreasing a speed of the motor to a non-zero value that is less than the desired speed of the motor.
 15. The method of claim 14, wherein controlling the power switching network to simulate bog-down by decreasing the speed of the motor to the non-zero value that is less than the desired speed of the motor includes decreasing the speed of the motor in proportion to an amount that the load is above the threshold.
 16. The method of claim 13 further comprising: determining, with the electronic processor, that the load is greater than a second threshold that is greater than the first threshold, and controlling, with the electronic processor, the power switching network to simulate stalling in response to determining that the load is greater than the second threshold, wherein controlling the power switching network to simulate stalling includes controlling, with the electronic processor, the power switching network to oscillate between different motor speeds to provide haptic feedback to a user of the power tool.
 17. The method of claim 13 further comprising: determining, with the electronic processor, that the load has been greater than the threshold for a predetermined time period, and controlling, with the electronic processor, the power switching network to simulate stalling in response to determining that the load has been greater than the threshold for the predetermined time period, wherein controlling the power switching network to simulate stalling includes controlling, with the electronic processor, the power switching network to oscillate between different motor speeds to provide haptic feedback to a user of the power tool.
 18. The method of claim 13, further comprising: continuing to monitor the load and control the power switching network to simulate bog-down with the electronic processor; determining, with the electronic processor, that the load has decreased to be less than the threshold; and in response to determining that the load has decreased to be less than the threshold, controlling, with the electronic processor, the power switching network to cease simulating bog-down and operate in accordance with the drive request signal generated by the actuator.
 19. The method of claim 13, wherein the threshold is one of a power tool current limit and a power source current available limit, and further comprising: determining, with the electronic processor, the threshold by determining which of the power tool current limit and the power source current available limit is lower; wherein the power source current available limit changes based on at least one of a state of charge of the power source and a temperature of the power source.
 20. The method of claim 13, wherein detecting the load on the power tool includes detecting, with the electronic processor, a current level of the motor. 